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Migration.md

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Note on deprecations

A tick-tock release cycle allows easy migration to new software versions. Obsolete code is marked as deprecated for one major release. Deprecated code produces compile-time warnings. These warning serve as notification to users that their code should be upgraded. The next major release will remove the deprecated code.

Gazebo Transport 11.X to 12.X

Deprecated

  1. The ignition namespace is deprecated and will be removed in future versions. Use gz instead.
  2. Header files under ignition/... are deprecated and will be removed in future versions. Use gz/... instead.
  3. The following IGN_ prefixed environment variables are deprecated and will be removed in future versions. Use the GZ_ prefixed versions instead!

    1. IGN_TRANSPORT_USERNAME -> GZ_TRANSPORT_USERNAME

    2. IGN_TRANSPORT_PASSWORD -> GZ_TRANSPORT_PASSWORD

    3. IGN_PARTITION -> GZ_PARTITION

    4. IGN_IP -> GZ_IP

    5. IGN_TRANSPORT_TOPIC_STATISTICS -> GZ_TRANSPORT_TOPIC_STATISTICS

    6. IGN_DISCOVERY_MSG_PORT -> GZ_DISCOVERY_MSG_PORT

    7. IGN_DISCOVERY_MULTICAST_IP -> GZ_DISCOVERY_MULTICAST_IP

    8. IGN_DISCOVERY_SRV_PORT -> GZ_DISCOVERY_SRV_PORT

    9. IGN_RELAY -> GZ_RELAY

    10. IGN_TRANSPORT_LOG_SQL_PATH -> GZ_TRANSPORT_LOG_SQL_PATH

    11. IGN_TRANSPORT_RCVHWM -> GZ_TRANSPORT_RCVHWM

    12. IGN_TRANSPORT_SNDHWM -> GZ_TRANSPORT_SNDHWM

    13. IGN_VERBOSE -> GZ_VERBOSE

  4. The following IGN_ prefixed macros are deprecated and will be removed in future versions. Additionally, they will only be available when including the corresponding ignition/... header. Use the GZ_ prefix instead.
    1. IGN_ZMQ_POST_4_3_1
    2. IGN_CPPZMQ_POST_4_7_0
    3. ign_strcat, ign_strcpy, ign_sprintf, ign_strdup
  5. The IgnTransportNode class is deprecated and will be removed in future versions. Use GzTransportNode instead. Similarly, the Ign prefixed members of that class will be removed in future versions. Use the Gz prefixed members instead.

Breaking Changes

  1. The project name has been changed to use the gz- prefix, you must use the gz prefix!
  • This also means that any generated code that use the project name (e.g. CMake variables, in-source macros) would have to be migrated.
  • Some non-exhaustive examples of this include:
    • GZ_<PROJECT>_<VISIBLE/HIDDEN>
    • CMake -config files
    • Paths that depend on the project name

Gazebo Transport 9.X to 10.X

Addition

  1. Dependency on cli component of gz-utils.

Gazebo Transport 8.X to 9.X

Removed

  1. Remove deprecations before 9.x.x release

Gazebo Transport 7.X to 8.X

Deprecated

  1. NodeShared::TriggerSubscriberCallbacks

  2. The discovery wire protocol changed to use gz::msgs::Discovery instead of C-structs. The Packet.hh header file is deprecated, which contained the Header, SubscriptionMsg, and AdvertiseMessage classes. The version of the wire protocal has bumped from 9 to 10. This means Gazebo Transport 8+ will not work with Gazebo Transport 7 and below.

Gazebo Transport 6.X to 7.X

Removed

  1. The gz.hh file is not longer installed.

Gazebo Transport 4.X to 5.X

Gazebo Transport 3.X to 4.X

  1. Service responder callbacks passed to Node::Advertise should now return a boolean value instead of taking in a boolean output parameter. The existing functions have been deprecated.